CN112807198A

CN112807198A - Auxiliary mechanical device for exoskeleton lower limbs for helping old people

Info

Publication number: CN112807198A
Application number: CN202110160061.4A
Authority: CN
Inventors: 豆照良; 刘峰斌; 魏满; 张坤; 韩鹏龙
Original assignee: North China University of Technology
Current assignee: North China University of Technology
Priority date: 2021-02-05
Filing date: 2021-02-05
Publication date: 2021-05-18

Abstract

The invention discloses an exoskeleton lower limb auxiliary mechanical device for helping the old, and relates to physical rehabilitation equipment. The auxiliary mechanical device for the lower limbs of the exoskeleton is convenient to operate, simple in structure and low in cost. The invention relates to an assistant exoskeleton lower limb auxiliary mechanical device for the elderly, which comprises a transmission mechanism, an energy storage mechanism and a locking mechanism, wherein the transmission mechanism comprises a pedal plate, an ankle joint ball is arranged on the pedal plate, a stabilizing rod is movably connected above the ankle joint ball, a stopping slide block is movably arranged on the stabilizing rod, a positioning hole is processed on the side surface of the stopping slide block, a plurality of pin holes are processed on the stabilizing rod along the movement direction of the stopping slide block, the pin holes correspond to the positioning holes in position, and an active pull rod is movably arranged at the upper part of the stabilizing rod; the energy storage mechanism is arranged between the driving pull rod and the stopping sliding block; the locking mechanism is arranged on one side of the stopping slide block and comprises a stopping pin which can be close to and far away from the stopping slide block and is used for passing through the positioning hole and the pin hole to lock the position of the stopping slide block.

Description

Auxiliary mechanical device for exoskeleton lower limbs for helping old people

Technical Field

The invention relates to the technical field of rehabilitation equipment, in particular to an exoskeleton lower limb auxiliary mechanical device for helping the old.

Background

The aging of the population is serious at present, most of the old people have self-care ability but lack of motivation, and most of the old people have inconvenient legs and feet, and the reason is mostly the disease of falling down in the young. The elderly are weak in that the ankle and hip joint have insufficient support ability, and the ankle joint has stability in standing.

Aiming at the inconvenient situations of the old, the old is generally improved by wearing auxiliary equipment at present, and the auxiliary equipment has the functions of enabling the old to stand up easily and safely without excessively relying on lumbar support to stand up hard, so that the old is prevented from falling down in the standing process; on the basis of standing, the old people can walk easily by means of the exoskeleton equipment, and the troubles of sideslip, front or back fall caused by unbalanced limbs are prevented; simultaneously, the stair can be safely moved up and down without labor.

The existing lower limb auxiliary mechanical device is complex in structure and complex in wearing process, and is not beneficial to being worn by the old. In addition, the conventional lower limb assisting mechanical device lacks necessary protection measures, the lower limb assisting mechanical device can move along with the movement of the lower limbs, and if the necessary protection or locking mechanism is lacked, the lower limb assisting mechanical device is difficult to protect or assist once the old people have accidents in use.

Disclosure of Invention

The invention aims to provide an auxiliary mechanical device for the lower limbs of the exoskeletons for helping the old, which is convenient to operate, simple in structure and low in cost.

The invention relates to an auxiliary mechanical device for an exoskeleton lower limb for helping old people, which comprises a transmission mechanism, an energy storage mechanism and a locking mechanism,

the transmission mechanism comprises a pedal plate, an ankle joint ball is mounted on the pedal plate, a stabilizing rod is movably connected above the ankle joint ball, a stopping slide block is movably mounted on the stabilizing rod, a positioning hole is formed in the side face of the stopping slide block, a plurality of pin holes are formed in the stabilizing rod along the movement direction of the stopping slide block and correspond to the positioning hole, and an active pull rod is movably mounted at the upper part of the stabilizing rod;

the energy storage mechanism is arranged between the driving pull rod and the stopping sliding block;

the locking mechanism is arranged on one side of the stopping slide block and comprises a stopping pin which can be close to and far away from the stopping slide block and is used for passing through the positioning hole and the pin hole to lock the position of the stopping slide block.

The invention relates to an auxiliary mechanical device for an exoskeleton lower limb for helping old people, wherein a connecting shaft is movably arranged at the upper part of a stabilizing rod, one end of an active pull rod is arranged on the connecting shaft, and the active pull rod can swing around the connecting shaft.

The invention relates to an auxiliary mechanical device for an exoskeleton lower limb for helping old people, wherein a stop slider is sleeved outside a stabilizing rod and can slide along the outside of the stabilizing rod.

The invention relates to an auxiliary mechanical device for an exoskeleton lower limb for helping old people, wherein an energy storage spring is selected as an energy storage mechanism, and two ends of the energy storage spring are respectively connected with mounting parts processed on a driving pull rod and a stop sliding block.

The invention relates to an assistant mechanical device for exoskeleton lower limbs for helping old people, wherein a locking mechanism comprises a rack, a rotary switch is movably arranged on the upper part of the rack, a guide convex rod is movably connected with the lower part of a selective rotary switch, a stop pin is transversely arranged on the lower part of the rack, one end of the stop pin, which is positioned in the rack, can be contacted with the lower part of the guide convex rod, and a second boosting spring is arranged outside the stop pin.

The invention relates to an exoskeleton lower limb auxiliary mechanical device for helping old people, wherein a rotating shaft is installed at the upper part of a rack, and the upper part of a rotary switch is installed on the rotating shaft.

The invention relates to an exoskeleton lower limb auxiliary mechanical device for helping old people, wherein two handles are arranged on a rotary switch, and the two handles correspond to the locking and starting two stations of the rotary switch.

The invention relates to an exoskeleton lower limb auxiliary mechanical device for helping old people, wherein a cambered surface structure is arranged on the bottom surface of a guide convex rod, and a cambered surface slide way with roughness matched with the cambered surface at the lower end of the guide convex rod is processed at the lower part of a rack.

The invention relates to an exoskeleton lower limb assisting mechanical device for helping old people, wherein a first boosting spring is installed outside a guide convex rod.

The invention relates to an assistant mechanical device for an old-assisting exoskeleton lower limb, which is different from the prior art in that a stabilizing rod and an active pull rod are adopted by the assistant mechanical device for the old-assisting exoskeleton lower limb, which respectively correspond to a shank and a thigh of a human body, a slide block is arranged outside the stabilizing rod, and the advance and retreat of the slide block are determined by the bending angle of the thigh. The energy storage mechanism is arranged on the rocker and used for transmitting force and converting energy. The locking part can be pulled left and right through an external element, an internal mechanism can transfer force and energy and finally transfer the force to the transmission part, and most of the operation cycles are reversible, so that the aims of simple and practical operation and stable mechanism operation are achieved. The invention adopts pure mechanical locking, the reliability is higher, and the service life is long; the manual locking pressure head is designed to be suitable for being pressed by a hand gesture of a person, and is matched with the boosting spring, so that the labor is saved, and the operation is simple; the guide convex rod and the slide way form high-pair contact, the roller is adopted to increase virtual restraint, the transmission efficiency is high, the resistance is reduced, the mechanical property is enhanced, and the stabilizing effect is achieved.

The invention further discloses a mechanical device for assisting the lower limbs of the exoskeleton with the function of helping the old, which is disclosed by the invention, by combining the attached drawings.

Drawings

FIG. 1 is a schematic structural view of a lower limb assisting mechanical device of an exoskeleton for helping old people;

FIG. 2 is a schematic structural diagram of a locking mechanism in the lower limb assisting mechanical device of the old-assisting exoskeleton of the invention;

FIGS. 3a to 3f are diagrams of the usage states of the lower limb assisting mechanical device of the aging-assisting exoskeleton of the invention in a squatting position, a semi-squatting position, a flat sitting position, a slightly squatting position, a standing position and a walking position respectively;

FIG. 4 is an analysis schematic diagram of the locking mechanism in the extreme position in the lower limb assisting mechanical device of the old-assisting exoskeleton of the invention;

5a-5d are schematic structural diagrams of the locking mechanism in the position 2, the position 2' and the position 1 respectively in the assistance mechanism for the old-assisting exoskeleton lower limbs of the present invention;

the notation in the figures means: 1-a foot pedal; 2-a stop slider; 3-active pull rod; 4-an energy storage spring; 5-pin holes; 6-a steady pole; 7-ankle ball;

21-a frame; 22-a second boost spring; 23-a retaining pin; 24-a guide nose bar; 25-a rotary switch; 26-a first boost spring; 27-slideway.

Detailed Description

The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.

As shown in figures 1 and 2, the lower limb auxiliary mechanical device for the old-assisting exoskeleton of the invention comprises a transmission mechanism, an energy storage mechanism and a locking mechanism. The transmission mechanism is respectively connected with the energy storage mechanism and the locking mechanism.

The transmission mechanism comprises a pedal 1, a base is arranged on the pedal 1, an ankle joint ball 7 is mounted on the base, and a stabilizing rod 6 is connected above the ankle joint ball 7. The pedal 1 corresponds to the steps of a human body, and the pedal 1 and the stabilizing rod 6 are combined to support the gravity of the human body and restrain the wrong walking posture of the old to prevent the old from falling down. The stabilizer bar 6 can rotate around the ankle ball 7. The ankle joint ball 7 is equivalent to an ankle joint of a human body, can move within a range of 360 degrees, and is not limited by the structural limitation of the mechanism.

The fixed pole 6 is movably provided with a stop slide block 2, the stop slide block 2 is sleeved outside the fixed pole 6, and the stop slide block 2 can slide along the outside of the fixed pole 6. The side surface of the stop slide block 2 is provided with a positioning hole. A plurality of pin holes 5 are processed on the constant rod 6 along the movement direction of the stop slider 2, the pin holes 5 correspond to the positioning holes in position and are consistent in size, and the stop pin 23 penetrates through the positioning holes and the pin holes 5 to fix the stop slider 2 on the outer side of the constant rod 6.

The upper part of the stabilizing rod 6 is movably provided with a connecting shaft, the connecting shaft is connected with an active pull rod 3, and the active pull rod 3 can swing around the connecting shaft. The stabilizing rod 6 and the active pull rod 3 are respectively positioned on one side of the shank and the thigh of the human body, and when the thigh of the human body swings, the active pull rod 3 drives the stabilizing rod 6 and the structure connected with the stabilizing rod to move.

The energy storage mechanism is arranged between the driving pull rod 3 and the stopping sliding block 2, in the embodiment, the energy storage spring 4 is selected as the energy storage mechanism, and the energy storage spring 4 can directly convert mechanical energy of mechanism motion into spring potential energy and then into mechanical potential energy. Two ends of the energy storage spring 4 are respectively connected with the driving pull rod 3 and the mounting parts processed on the stopping slide block 2. When the active pull rod 3 swings, the energy storage spring 4 can store energy.

The locking mechanism is arranged on one side of the stopping slide block 2 and used for locking the position of the stopping slide block 2. The locking mechanism comprises a frame 21, and the frame 21 is a main body structure of the locking mechanism. The upper part of the frame 21 is provided with a rotating shaft, and a rotating switch 25 is arranged on the rotating shaft. The rotary switch 25 is provided with two handles, the two handles correspond to the locking and starting two stations of the rotary switch 25, and the rotary switch 25 can rotate around the rotating shaft by shifting the handles. The lower part of the rotary switch 25 is movably connected with a guide convex rod 24. The upper part of the guide convex rod 24 is hinged with the rotary switch 25, the bottom surface of the guide convex rod 24 is provided with a cambered surface structure, and when the rotary switch 25 rotates, the upper part of the guide convex rod 24 is opposite to the rotating direction of the guide convex rod. The lower part of the frame 21 is provided with a cambered surface slideway 27 with roughness matched with the cambered surface at the lower end of the guide convex rod 24, and when the upper part of the guide convex rod 24 rotates along with the rotary switch 25, the bottom surface of the guide convex rod 24 moves in the slideway 27 of the frame 21. The guide protrusion bar 24 is externally mounted with a first assist spring 26.

The lower part of the frame 21 is transversely provided with a stop pin 23, and the stop pin 23 is movably sleeved on the mounting hole of the frame 21. One end of the stop pin 23 located inside the frame 21 can contact with the lower part of the guide protruding rod 24, and the stop pin 23 can be driven to perform linear motion when the guide protruding rod 24 swings. The stop pin 23 is externally provided with a second boosting spring 22, and the second boosting spring 22 can play a role of resetting. One end of the stop pin 23 extending out of the frame 21 is opposite to the position of the positioning hole on the stop slide block 2. When the stop pin 23 is extended, it can be inserted into the positioning hole and one of the pin holes 5 to lock the position of the stop slider 2.

The process of the aged squatting and exercising is described below with reference to fig. 3a-3f as an example:

1. a squatting position: when the old people want to squat, the feet need to lean outwards slightly by means of the interaction of the ankle joint ball 7, the pedal plate 1 and the stabilizing rod 6, then the rotary switch 25 is moved to the starting state, the old people start to squat, the spring starts to compress, the mechanical potential energy starts to be converted into spring potential energy, and when the old people are in the vertical state, the old people squat completely, at the moment, the rotary switch 25 is moved to the locking state, the spring is restrained, and the spring potential energy is stored;

2. semi-squatting position: on the basis of the squatting position, the rotary switch 25 is moved to the starting state, when the old people perform the standing action, the potential energy of the spring begins to be converted into mechanical potential energy, the spring force jacks up the active pull rod 3, the thighs of the old people easily stand up, when the old people are in the semi-squatting position, the rotary switch 25 is moved to the locking state, the spring is restrained, and the potential energy of the spring is stored;

3. flat sitting posture: when the old sits on the stool, the rotary switch 25 is locked;

4. slightly squatting: when the rotary switch 25 is locked, the active pull rod 3 plays a role of supporting the thighs of the human body, and the stabilizing rod 6 can also play a role of slightly supporting, so that the old can achieve good effects of being easy and labor-saving in the state;

5. standing and walking postures: the two states are the state combination that the old man can have when basically walking, the ankle joint ball 7 plays the effect of the flexible movement of the old man, the old man is at the in-process of walking, rotary switch 25 can needn't lock, at this moment, the spring potential energy converts mechanical potential energy into completely, the spring is in the original long state, do not influence the old man and walk normally, the old man is at the in-process of walking simultaneously, there is short leg bending action, locking slider 2 can bend the leg along with the old man, slide from top to bottom automatically, the pole 6 and running-board 1 of deciding the throne also can assist the old man to keep normal posture, difficult turning round the foot and prevent the shank because suddenly weak, cause the old man to fall down.

The following results are obtained from the specific analysis of the human knee bending and ankle joint movement process shown in FIGS. 3a-3f

Table 1 situation:

TABLE 1 Main position values of knee bending and ankle joint motion angles of human body

The locking mechanism moves as shown in fig. 4 and fig. 5a-5d, and mainly involves 6 positions in the moving process, wherein the position 31' is an unstable state in the locking process; position 31' is the extreme state during the lock-up process; position 32 is the locked position where the switch is off (fig. 5 a); position 32' is an unstable state during unlocking (fig. 5 b); position 32 "is the extreme state during unlocking (fig. 5 c); position 31 is the unlocked position with the switch open (fig. 5 d). And (3) motion track process: 31 → 31' → 31 → 32 → 32 ″; the track motion process can be circulated from any position. Specifically analyzing the track motion process: firstly, the guide convex rod 24 is at the position of the central line of fig. 4, the rotary switch 25 is manually pressed, the boosting spring is compressed, the guide convex rod 24 moves to the position 1 'under the action of the rotary switch 25 and the limit spring, at the moment, the guide convex rod is at the limit position and can be in a self-locking state, so that the roller is added, the influence of overlarge resistance is effectively avoided, meanwhile, the guide convex rod is not influenced by the spring force of the boosting spring and can continuously move to the position 1', the stop pin 23 can achieve an ideal function, in the return stroke, the rotary switch 25 is manually moved in the return stroke, meanwhile, the boosting spring gives elastic force, the auxiliary guide convex rod 24 successfully returns, and the influence of the limit position resistance can be effectively avoided, so that the self-locking is caused.

The invention relates to an assistant mechanical device for an exoskeleton lower limb for helping old people, which adopts a stabilizing rod and an active pull rod to respectively correspond to a shank and a thigh of a human body, a slide block is arranged outside the stabilizing rod, and the advance and retreat of the slide block are determined by the bending angle of the thigh. The energy storage part is flexibly operated by the spring, and the required force is not large and is almost equal to the force applied by the human body when the human body naturally squats, so the spring is selected as an energy storage element and is arranged on the rocker to transmit force and convert energy. The locking part can be pulled left and right through an external element, an internal mechanism can transfer force and energy and finally transfer the force to the transmission part, and most of the operation cycles are reversible, so that the aims of simple and practical operation and stable mechanism operation are achieved. The invention adopts pure mechanical locking, the reliability is higher, and the service life is long; the manual locking pressure head is designed to be suitable for being pressed by a hand gesture of a person, and is matched with the boosting spring, so that the labor is saved, and the operation is simple; the guide convex rod and the slide way form high-pair contact, the roller is adopted to increase virtual restraint, the transmission efficiency is high, the resistance is reduced, the mechanical property is enhanced, and the stabilizing effect is achieved.

Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.

Claims

1. A mechanical device for assisting the old exoskeleton lower limbs is characterized in that: comprises a transmission mechanism, an energy storage mechanism and a locking mechanism,

2. The assistive exoskeleton lower limb assisting mechanical device of claim 1, wherein: the upper portion of the steady pole is movably provided with a connecting shaft, one end of the driving pull rod is arranged on the connecting shaft, and the driving pull rod can swing around the connecting shaft.

3. The assistive exoskeleton lower limb assisting mechanical device of claim 1, wherein: the stopping slide block is sleeved on the outer side of the constant rod and can slide along the outer side of the constant rod.

4. The assistive exoskeleton lower limb assisting mechanical device of claim 1, wherein: and the energy storage mechanism adopts an energy storage spring, and two ends of the energy storage spring are respectively connected with the driving pull rod and the mounting part processed on the stop sliding block.

5. The assistive exoskeleton lower limb assisting mechanical device of claim 1, wherein: the locking mechanism comprises a rack, a rotary switch is movably mounted on the upper portion of the rack, a guide convex rod is movably connected to the lower portion of the rotary switch, a stop pin is transversely mounted on the lower portion of the rack, one end, located inside the rack, of the stop pin can be in contact with the lower portion of the guide convex rod, and a second boosting spring is mounted on the outer portion of the stop pin.

6. The assistive exoskeleton lower limb assisting mechanical device of claim 5, wherein: the upper portion of frame is installed the pivot, and rotary switch's upper portion is installed in the pivot.

7. The assistive exoskeleton lower limb assisting mechanical device of claim 5, wherein: the rotary switch is provided with two handles, and the two handles correspond to the locking and starting stations of the rotary switch.

8. The assistive exoskeleton lower limb assisting mechanical device of claim 5, wherein: the bottom surface of the guide convex rod is provided with a cambered surface structure, and the lower part of the rack is provided with a cambered surface slide way which is matched with the cambered surface at the lower end of the guide convex rod and has roughness.

9. The assistive exoskeleton lower limb assisting mechanical device of claim 5, wherein: and a first boosting spring is arranged outside the guide convex rod.